Designing a control-theory for a reconfigurable rehabilitation robot used by different users

Betreuer/in:            Dr. Alireza Abbasimoshaei, Prof. Dr. Thorsten Kern           
Dekanat/Institut:   Mechanical engineering, Institute for Mechatronics in Mechanics           

E-Mail:   al.abbasimoshaei@tuhh.de

The Institute for Mechatronics in Mechanics has a trend to develop robotics projects. An important part of the robots is their controlling system. The interaction between a patient and a reconfigurable device is extremely complex as it is affected by different stiffness, friction and end-effector shape. Thus, in this project some kinds of robust systems are needed for controlling. As a general view, the system receives the commands from physiotherapist and guides the patient’s hand according to them. Making such systems requires theoretical examinations and simulations which follow the development of a concept. Moreover, a structured implementation leads to the verification of the parameters and their calibrations.

The first stage of this work is devising a control-theory for a certain rehabilitation robot. The problem of designing a control-theory is that it should be adapted with different users. Moreover, in rehabilitation there are lots of uncertainties and disturbances which should be removed. In the other steps, a controlling system for different configurations of the device should be developed. It requires adjusting the kinematic model to be used in the control system design. Some of the steps in this project are written below.

  • Finding the type of the controlling system which satisfies the necessary items.
  • Defining the avoided parameters (e.g. handshakes).
  • Designing an adjusting part (in controlling system structure) according to the users’ suggestions.
  • Combining different control systems to reach the best one.

The aim of the work is designing and implementation of a useful control system for rehabilitation.

For more information, please go to room O 0.015, Dr. Alireza Abbasimoshaei or send an email to: al.abbasimoshaei@tuhh.de

 

References:

[1]        R. Riener, L. Lünenburger, S. Jezernik, M. Anderschitz, G. Colombo, and V. Dietz, “Patient-cooperative strategies for robot-aided treadmill training: First experimental results,” IEEE Trans. Neural Syst. Rehabil. Eng., vol. 13, no. 3, pp. 380–394, 2005.

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